CN110958932B - Systems and methods for acquiring and moving objects with complex exterior surfaces - Google Patents

Systems and methods for acquiring and moving objects with complex exterior surfaces Download PDF

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CN110958932B
CN110958932B CN201880049463.3A CN201880049463A CN110958932B CN 110958932 B CN110958932 B CN 110958932B CN 201880049463 A CN201880049463 A CN 201880049463A CN 110958932 B CN110958932 B CN 110958932B
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rollers
pair
end effector
set forth
shows
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CN110958932A (en
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T·瓦格纳
K·埃亨
J·R·小阿门德
B·科恩
M·道森-哈格蒂
W·H·福特
C·盖尔
J·E·金
T·科勒舒卡
M·C·科瓦尔
K·马罗尼
M·T·马森
W·C-H·麦克马汉
G·T·普莱斯
J·罗曼诺
D·史密斯
S·斯里尼瓦萨
P·韦拉加普德
T·艾伦
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Berkshire Grey Inc
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1612—Program controls characterised by the hand, wrist, grip control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • B25J15/0038—Cylindrical gripping surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/109—Program-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Manipulator (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)

Abstract

根据一个实施例，本发明提供了一种与可编程移动设备一起使用的末端执行器。该末端执行器包括成对相互相对的表面，成对相互相对的表面中的至少一个相对于末端执行器支承结构可移动，该末端执行器支承结构用于支承成对相互相对的表面中的至少一个。

Figure 201880049463

According to one embodiment, the present invention provides an end effector for use with a programmable mobile device. The end effector includes a pair of mutually opposing surfaces, at least one of the pair of mutually opposing surfaces is movable relative to an end effector support structure for supporting at least one of the pair of mutually opposing surfaces one.

Figure 201880049463

Description

用于获取和移动具有复杂的外表面的物体的系统和方法Systems and methods for acquiring and moving objects with complex exterior surfaces

优先权priority

本申请要求2017年8月2日提交的美国临时申请第62/540,355号的优先权，该申请公开以参见的方式全部纳入本文。This application claims priority to U.S. Provisional Application No. 62/540,355, filed August 2, 2017, the disclosure of which is incorporated herein by reference in its entirety.

背景技术Background technique

本发明总体上涉及可编程移动系统，并且具体地涉及用于可编程移动设备(例如，机器人系统)的末端执行器，其用于诸如物体分类或订单履行之类的物体处理。The present invention relates generally to programmable mobile systems, and in particular to end effectors for programmable mobile devices (eg, robotic systems) for object handling such as object sorting or order fulfillment.

背景技术Background technique

用于机器人系统的末端执行器例如可以在某些应用中用于选择和抓持物体，然后非常快地将获取的物体移动到新位置。被设计为在移动期间非常安全地抓持物体的末端执行器在如何从混杂的不同物体中快速且容易地选择并抓持物体方面可能会受到限制。相反，可以快速且容易地从混杂的物体(相似或不相似的物体)中抓持选定物体的末端执行器在快速移动期间，尤其是快速加速和减速(角度和线性)期间，在如何确保它们抓持所获取的物体方面可能会受到限制。End effectors for robotic systems can, for example, be used in some applications to select and grasp objects and then move the acquired objects to new positions very quickly. An end effector designed to very securely grasp an object during movement may be limited in how to quickly and easily select and grasp an object from a jumble of different objects. Conversely, an end effector that can quickly and easily grasp a selected object from a clutter of objects (similar or dissimilar objects) is critical in how to ensure They may be limited in grasping the acquired object.

许多末端执行器利用真空压力来获取和固定物体，以通过铰接臂进行运送或后续操作。用于获取和固定物体的其它技术包括利用静电吸引、磁性吸引、用于刺穿诸如织物之类的物体的针、挤压物体的指状件、接合并抬升物体的突出特征的钩子以及在物体的开口中扩展的夹头、以及其它技术。通常，将末端执行器设计为诸如例如抓持器、焊接机或喷漆头的单个工具，并且该工具通常设计成用于特定的成组需求。Many end effectors utilize vacuum pressure to acquire and hold objects for delivery or subsequent manipulation by an articulated arm. Other techniques for capturing and securing objects include the use of electrostatic attraction, magnetic attraction, needles used to pierce objects such as fabric, fingers that squeeze objects, hooks that engage and lift protruding features of objects, and Expanded collets in the opening of the , and other techniques. Typically, an end effector is designed as a single tool such as, for example, a gripper, welding machine, or paint spray head, and the tool is usually designed for a specific group of needs.

尽管许多物体可能包括传统的末端执行器容易抓持的外表面，但是某些物体给传统的末端执行器带来了困难。在运输分配系统中，例如，许多待处理的物体被提供为袋子，例如聚乙烯袋，其包含待运输的物品。袋子的外表面柔软而有弹性，在尝试抓持期间会移动，这对抓持计划系统带来独特的挑战。While many objects may include external surfaces that are easily grasped by conventional end effectors, certain objects present difficulties for conventional end effectors. In transport distribution systems, for example, many objects to be handled are provided as bags, such as polyethylene bags, which contain the items to be transported. The outer surface of the bag is soft and elastic and moves during grasping attempts, presenting unique challenges to grasping planning systems.

因此，仍然需要一种可编程移动系统中的末端执行器，该末端执行器可以选择并抓持物体，然后非常快地将获取的物体移动到新的位置，并且还需要一种末端执行器，其可以一致且可靠地抓持诸如聚乙烯袋子之类的包括不可预测的外表面的物体。Therefore, there remains a need for an end effector in a programmable movement system that can select and grasp an object and then move the acquired object to a new location very quickly, and there is also a need for an end effector that, It can consistently and reliably grip objects that include unpredictable exterior surfaces, such as polyethylene bags.

发明内容Contents of the invention

根据一个实施例，本发明提供了一种与可编程移动设备一起使用的末端执行器。该末端执行器包括成对相互相对的表面，成对相互相对的表面中的至少一个相对于末端执行器支承结构可移动，该末端执行器支承结构用于支承成对相互相对的表面中的至少一个。According to one embodiment, the present invention provides an end effector for use with a programmable mobile device. The end effector includes a pair of mutually opposing surfaces, at least one of the pair of mutually opposing surfaces is movable relative to an end effector support structure for supporting at least one of the pair of mutually opposing surfaces one.

根据另一个实施例，本发明提供了一种与可编程移动设备一起使用的末端执行器。该末端执行器包括成对相互相对的表面，成对相互相对的表面中的至少一个相对于成对相互相对的表面中的另一个可移动。According to another embodiment, the present invention provides an end effector for use with a programmable mobile device. The end effector includes a pair of mutually opposing surfaces, at least one of the pair of mutually opposing surfaces being movable relative to the other of the pair of mutually opposing surfaces.

根据另一实施例，本发明提供了一种使用可编程移动设备的末端执行器抓持物体的方法。该方法包括以下步骤：使物体与成对相互相对的表面接合，并且相对于末端执行器支承结构移动成对相互相对的表面中的至少一个，该末端执行器支承结构用于支承成对相互相对的表面中的至少一个。According to another embodiment, the present invention provides a method of grasping an object using an end effector of a programmable mobile device. The method includes the steps of engaging an object with a pair of mutually opposing surfaces and moving at least one of the pair of mutually opposing surfaces relative to an end effector support structure for supporting the pair of mutually opposing surfaces. at least one of the surfaces of .

根据又一个实施例，本发明提供了一种使用可编程移动设备的末端执行器抓持物体的方法。该方法包括以下步骤：使物体与成对相互相对的表面接合，并且相对于成对相互相对的表面中的另一个移动成对相互相对的表面中的至少一个。According to yet another embodiment, the present invention provides a method of grasping an object using an end effector of a programmable mobile device. The method includes the steps of engaging the object with the pair of mutually opposing surfaces and moving at least one of the pair of mutually opposing surfaces relative to the other of the pair of mutually opposing surfaces.

附图说明Description of drawings

参考附图可进一步理解以下的描述，附图中：The following description can be further understood with reference to the accompanying drawings, in which:

图1示出了根据本发明实施例的具有末端执行器的可编程移动系统的说明性示意图；Figure 1 shows an illustrative schematic diagram of a programmable mobility system with an end effector according to an embodiment of the present invention;

图2示出了图1的末端执行器的说明性示意图；FIG. 2 shows an illustrative schematic diagram of the end effector of FIG. 1;

图3示出了图2的末端执行器的说明性示意正视图；Figure 3 shows an illustrative schematic front view of the end effector of Figure 2;

图4示出了图2的末端执行器的说明性示意侧视图；Figure 4 shows an illustrative schematic side view of the end effector of Figure 2;

图5示出了图2的末端执行器的说明性示意后视图；Figure 5 shows an illustrative schematic rear view of the end effector of Figure 2;

图6示出了接触物体的图2的末端执行器的说明性示意正视图；6 shows an illustrative schematic front view of the end effector of FIG. 2 contacting an object;

图7示出了接合物体的图6的末端执行器的说明性示意正视图；7 shows an illustrative schematic front view of the end effector of FIG. 6 engaging an object;

图8示出了根据本发明的另一个实施例的末端执行器的说明性示意图；Figure 8 shows an illustrative schematic diagram of an end effector according to another embodiment of the present invention;

图9示出了图8的末端执行器的说明性示意侧视图；Figure 9 shows an illustrative schematic side view of the end effector of Figure 8;

图10示出了开始接合物体的图8的末端执行器的说明性示意侧视图；10 shows an illustrative schematic side view of the end effector of FIG. 8 beginning to engage an object;

图11示出了完全接合物体的图10的末端执行器的说明性示意侧视图；11 shows an illustrative schematic side view of the end effector of FIG. 10 fully engaged with an object;

图12示出了根据本发明的另一个实施例的末端执行器的说明性示意图；Figure 12 shows an illustrative schematic diagram of an end effector according to another embodiment of the present invention;

图13示出了图12的末端执行器的说明性示意侧视图；Figure 13 shows an illustrative schematic side view of the end effector of Figure 12;

图14示出了开始接合物体的图10的末端执行器的说明性示意侧视图；14 shows an illustrative schematic side view of the end effector of FIG. 10 beginning to engage an object;

图15示出了完全接合物体的图10的末端执行器的说明性示意侧视图；15 shows an illustrative schematic side view of the end effector of FIG. 10 fully engaged with an object;

图16A-16C示出了根据本发明的另一实施例的末端执行器的说明性示意仰视图，其中，辊子彼此可变地间隔开；16A-16C show illustrative schematic bottom views of an end effector in accordance with another embodiment of the present invention, wherein the rollers are variably spaced from each other;

图17示出了根据本发明另一个实施例的末端执行器的说明性示意仰视图，该末端执行器包括提供可变尺寸的开口的可变直径的辊子；17 shows an illustrative schematic bottom view of an end effector comprising variable diameter rollers providing variable sized openings in accordance with another embodiment of the present invention;

图18示出了根据本发明另一个实施例的末端执行器的说明性示意仰视图，该末端执行器包括彼此均匀间隔开的可变直径的辊子；18 shows an illustrative schematic bottom view of an end effector comprising variable diameter rollers evenly spaced from each other in accordance with another embodiment of the present invention;

图19示出了根据本发明另一个实施例的末端执行器的说明性示意仰视图，该末端执行器包括交错布置的可变直径的辊子；19 shows an illustrative schematic bottom view of an end effector comprising staggered rollers of variable diameter in accordance with another embodiment of the present invention;

图20示出了根据本发明另一个实施例的末端执行器的说明性示意仰视图，该末端执行器包括提供可变尺寸的开口的可变直径的辊子，该开口在中间最大；20 shows an illustrative schematic bottom view of an end effector comprising variable diameter rollers providing a variable sized opening, the opening being largest in the middle, according to another embodiment of the present invention;

图21示出了根据本发明另一个实施例的末端执行器的说明性示意仰视图，该末端执行器包括提供可变尺寸的开口的可变直径的辊子，该开口在端部处最大；21 shows an illustrative schematic bottom view of an end effector comprising variable diameter rollers providing a variable sized opening, the opening being largest at the end, according to another embodiment of the present invention;

图22A和22B示出了末端执行器的说明性示意正视图，该末端执行器在打开位置(图22A)和闭合位置(图22B)中利用凸轮辊子；22A and 22B show illustrative schematic front views of an end effector utilizing cam rollers in an open position (FIG. 22A) and a closed position (FIG. 22B);

图23A和23B示出了末端执行器的说明性示意正视图，该末端执行器在打开位置(图23A)和闭合位置(图23B)中利用轴向偏移的辊子；23A and 23B show illustrative schematic front views of an end effector utilizing axially offset rollers in an open position (FIG. 23A) and a closed position (FIG. 23B);

图24A和24B示出了末端执行器的说明性示意正视图，该末端执行器在打开位置(图24A)和闭合位置(图24B)中利用可膨胀的辊子；24A and 24B show illustrative schematic front views of an end effector utilizing expandable rollers in an open position (FIG. 24A) and a closed position (FIG. 24B);

图25示出了根据一个实施例的末端执行器的说明性示意图，该末端执行器包括具有吸引特征的辊子；25 shows an illustrative schematic diagram of an end effector including rollers with attraction features, according to one embodiment;

图26示出了图25的辊子的说明性示意侧视图，其中，吸引特征包括凸块；Fig. 26 shows an illustrative schematic side view of the roller of Fig. 25, wherein the attraction features comprise bumps;

图27示出了图26的辊子的说明性示意俯视图；Figure 27 shows an illustrative schematic top view of the roller of Figure 26;

图28示出了图25的辊子的说明性示意正视图，其中，吸引特征包括吸杯；Figure 28 shows an illustrative schematic front view of the roller of Figure 25, wherein the attraction features comprise suction cups;

图29示出了图28的辊子的说明性示意俯视图；Figure 29 shows an illustrative schematic top view of the roller of Figure 28;

图30示出了图25的辊子的说明性示意正视图，其中，吸引特征包括真空端口；Figure 30 shows an illustrative schematic front view of the roller of Figure 25, wherein the suction features include vacuum ports;

图31示出了图30的辊子的说明性示意俯视图；Figure 31 shows an illustrative schematic top view of the roller of Figure 30;

图32示出了根据本发明的另一个实施例的末端执行器的说明性示意图，该末端执行器包括带有所施加的静电荷的辊子；32 shows an illustrative schematic diagram of an end effector including rollers with an applied electrostatic charge in accordance with another embodiment of the present invention;

图33示出了根据本发明的另一个实施例的末端执行器的说明性示意图，该末端执行器包括带有化学吸附到聚氨酯的材料的辊子；33 shows an illustrative schematic diagram of an end effector comprising rollers with material chemisorbed to polyurethane according to another embodiment of the present invention;

图34示出了根据本发明的另一个实施例的具有末端执行器的可编程移动系统的说明性示意图，该末端执行器包括安装在框架中的成组辊子；34 shows an illustrative schematic diagram of a programmable movement system having an end effector comprising a set of rollers mounted in a frame according to another embodiment of the present invention;

图35示出了图34的末端执行器的说明性示意图；35 shows an illustrative schematic diagram of the end effector of FIG. 34;

图36示出了图35的末端执行器的说明性示意图，其中为清楚起见移除了铰接臂；36 shows an illustrative schematic diagram of the end effector of FIG. 35 with the articulating arms removed for clarity;

图37示出了接触物体的图36的末端执行器的说明性示意图；37 shows an illustrative schematic diagram of the end effector of FIG. 36 contacting an object;

图38示出了开始接合物体的图37的末端执行器的说明性示意图；38 shows an illustrative schematic diagram of the end effector of FIG. 37 beginning to engage an object;

图39示出了完全接合物体的图37的末端执行器的说明性示意图；39 shows an illustrative schematic diagram of the end effector of FIG. 37 fully engaged with an object;

图40示出了根据本发明的另一个实施例的末端执行器的说明性示意图，其中两个辊子都是可线性致动的；Figure 40 shows an illustrative schematic diagram of an end effector in which both rollers are linearly actuatable in accordance with another embodiment of the present invention;

图41示出了根据本发明的另一个实施例的末端执行器的说明性示意图，其中两个辊子都从支承框架的底侧偏移；41 shows an illustrative schematic diagram of an end effector according to another embodiment of the present invention, wherein both rollers are offset from the bottom side of the support frame;

图42示出了图41的末端执行器的说明性示意仰视图；Figure 42 shows an illustrative schematic bottom view of the end effector of Figure 41;

图43示出了类似于图41所示的末端执行器的说明性示意图，该末端执行器包括弹簧偏置元件；Figure 43 shows an illustrative schematic diagram of an end effector similar to that shown in Figure 41, the end effector including a spring biasing element;

图44示出了图43的末端执行器的说明性示意仰视图；Figure 44 shows an illustrative schematic bottom view of the end effector of Figure 43;

图45A和45B示出了根据本发明另一个实施例的末端执行器的说明性示意图，该末端执行器包括在打开位置(图45A所示)和闭合位置(图45B)中在独立框架上的辊子；Figures 45A and 45B show an illustrative schematic diagram of an end effector comprising an open position (shown in Figure 45A) and a closed position (shown in Figure 45B) on a separate frame according to another embodiment of the present invention. Roller;

图46示出了根据本发明另一个实施例的具有两个相对的末端执行器的可编程移动系统的说明性示意图；46 shows an illustrative schematic diagram of a programmable movement system with two opposing end effectors according to another embodiment of the present invention;

图47示出了根据本发明另一个实施例的具有两个相邻的末端执行器的可编程移动系统的说明性示意图；47 shows an illustrative schematic diagram of a programmable movement system with two adjacent end effectors according to another embodiment of the present invention;

图48A和48B示出了根据本发明另一个实施例的末端执行器的说明性示意图，该末端执行器包括在打开位置(图48A所示)和闭合位置(图48B)中在多轴线轴上的辊子；48A and 48B show an illustrative schematic diagram of an end effector comprising a multi-axis axis in an open position (shown in FIG. 48A ) and a closed position (shown in FIG. 48B ) according to another embodiment of the present invention. the roller;

图49A和49B示出了根据本发明另一个实施例的末端执行器的说明性示意图，该末端执行器包括在打开位置(图49A所示)和闭合位置(图49B)中可朝向彼此并远离彼此线性移动的辊子或球体；49A and 49B show an illustrative schematic diagram of an end effector according to another embodiment of the present invention, the end effector comprising an open position (shown in FIG. 49A ) and a closed position (shown in FIG. 49B ) toward each other and away from each other. Rollers or spheres that move linearly with each other;

图50A和50B示出了根据本发明另一个实施例的末端执行器的说明性示意图，该末端执行器包括在打开位置(图50A所示)和闭合位置(图50B)中可朝向彼此并远离彼此旋转移动的辊子或球体；50A and 50B show an illustrative schematic diagram of an end effector according to another embodiment of the present invention, the end effector comprising an open position (shown in FIG. 50A ) and a closed position (shown in FIG. 50B ) toward each other and away from each other. Rollers or spheres that move in rotation with each other;

图51A和51B示出了根据本发明另一个实施例的末端执行器的说明性示意图，该末端执行器包括在打开位置(图51A所示)和闭合位置(图51B)中可朝向彼此并远离彼此直接线性移动的辊子或球体；51A and 51B show an illustrative schematic diagram of an end effector according to another embodiment of the present invention, the end effector comprising an open position (shown in FIG. 51A ) and a closed position (shown in FIG. 51B ) toward each other and away from each other. Rollers or spheres moving linearly directly with each other;

图52A和52B示出了根据本发明另一个实施例的末端执行器的说明性示意图，该末端执行器包括在打开位置(图52A所示)和闭合位置(图52B)中的成对条带；52A and 52B show an illustrative schematic diagram of an end effector including a pair of straps in an open position (shown in FIG. 52A ) and a closed position ( FIG. 52B ) according to another embodiment of the present invention. ;

图53A和53B示出了根据本发明另一个实施例的末端执行器的说明性示意图，该末端执行器包括在打开位置(图53A所示)和闭合位置(图53B)中的连杆上的成对抓持器；Figures 53A and 53B show an illustrative schematic diagram of an end effector according to another embodiment of the present invention, the end effector comprising an open position (shown in Figure 53A) and a closed position (shown in Figure 53B) on the linkage. paired grippers;

图54A和54B示出了根据本发明另一个实施例的末端执行器的说明性示意图，该末端执行器包括在打开位置(图54A所示)和闭合位置(图54B)中的接合小齿轮的成对齿条；54A and 54B show an illustrative schematic diagram of an end effector including an engagement pinion in an open position (shown in FIG. 54A ) and a closed position (shown in FIG. 54B ) according to another embodiment of the present invention. Paired racks;

图55A和55B示出了根据本发明另一个实施例的末端执行器的说明性示意图，该末端执行器包括在打开位置(图55A所示)和闭合位置(图55B)中的小齿轮和张紧机构；以及55A and 55B show an illustrative schematic diagram of an end effector including a pinion and a tensioner in an open position (shown in FIG. 55A ) and a closed position (shown in FIG. 55B ) according to another embodiment of the present invention. tightening mechanism; and

图56A和56B示出了根据本发明另一个实施例的末端执行器的说明性示意图，该末端执行器包括在打开位置(图56A所示)和闭合位置(图56B)中的小齿轮和双张紧机构。56A and 56B show an illustrative schematic diagram of an end effector including a pinion and a dual gear in an open position (shown in FIG. 56A ) and a closed position (shown in FIG. 56B ) according to another embodiment of the present invention. tensioning mechanism.

所示的附图仅出于说明目的，并不一定按比例绘制。The figures shown are for illustrative purposes only and are not necessarily drawn to scale.

具体实施方式Detailed ways

根据各种实施例，本发明的系统可以在形状、尺寸、尺寸、重量、比例和设计上变化，以适应不同的应用和/或针对诸如尺寸、重量和制造材料的各种设计约束进行定制。According to various embodiments, the systems of the present invention may vary in shape, size, dimension, weight, proportions and design to suit different applications and/or be customized for various design constraints such as size, weight and materials of manufacture.

根据一个实施例，本发明提供了一种与可编程移动设备一起使用的末端执行器。该末端执行器包括成对相互相对的表面，成对相互相对的表面中的至少一个相对于末端执行器支承结构可移动，该末端执行器支承结构用于支承成对相互相对的表面中的至少一个。根据另一个实施例，成对相互相对的表面中的至少一个相对于另一个相互相对的表面可致动以滚动。在另一实施例中，成对相互相对的表面中的至少一个可致动以朝向或远离成对相互相对的表面中的另一个，并且在其它实施例中，该移动可以由线性移动或角向移动引起，并且在其它实施例中，这些表面可以由成对辊子、成对球体或成对条带提供。According to one embodiment, the present invention provides an end effector for use with a programmable mobile device. The end effector includes a pair of mutually opposing surfaces, at least one of the pair of mutually opposing surfaces is movable relative to an end effector support structure for supporting at least one of the pair of mutually opposing surfaces one. According to another embodiment, at least one of the pair of mutually opposing surfaces is actuatable to roll relative to the other mutually opposing surface. In another embodiment, at least one of the pair of mutually opposing surfaces is actuatable toward or away from the other of the pair of mutually opposing surfaces, and in other embodiments, the movement may consist of a linear movement or an angular movement. and in other embodiments these surfaces may be provided by pairs of rollers, pairs of spheres or pairs of strips.

例如，图1示出了可编程移动设备10(例如，铰接臂或机器人系统)，其包括附连到末端执行器联接单元18上的末端执行器12，以及基座14和控制器16，该控制器可以通过无线或有线通信连接到可编程移动设备。例如，在某些实施例中，控制器16可以位于基部部段14内。可编程移动设备可以用于物体的处理，诸如例如，用于分拣物体或用于将物体包装到运输包装中。可编程移动设备还可以与订单运输履行设施通信，在该设施中解析订单、收集物品并准备物品以便运输。For example, FIG. 1 shows a programmable mobile device 10 (e.g., an articulated arm or robotic system) that includes an end effector 12 attached to an end effector coupling unit 18, as well as a base 14 and a controller 16, which The controller can be connected to the programmable mobile device through wireless or wired communication. For example, in some embodiments, the controller 16 may be located within the base section 14 . Programmable mobile devices may be used for handling of objects, such as, for example, for sorting objects or for packing objects into shipping packages. The programmable mobile device can also communicate with an order shipping fulfillment facility where the order is parsed, items are collected and prepared for shipping.

该末端执行器12在图2中进一步示出，其中末端执行器12示出为借助支承结构20附连到部段18，该支承结构20附连到部段18并支承成对辊子22、24。如图3所示(图3示出了附连到部段18的末端执行器12的正视图)，每个辊子22、24安装在两个轴中的一个上，辊子22、24彼此相邻，并且各自由马达驱动。辊子22、24例如可以由聚氨酯形成。The end effector 12 is further shown in FIG. 2 , where the end effector 12 is shown attached to the section 18 by means of a support structure 20 which is attached to the section 18 and supports a pair of rollers 22 , 24 . As shown in FIG. 3 (FIG. 3 shows a front view of the end effector 12 attached to the section 18), each roller 22, 24 is mounted on one of two shafts, the rollers 22, 24 are adjacent to each other , and each is driven by a motor. The rollers 22, 24 can be formed, for example, from polyurethane.

图4示出了图3的末端执行器的侧视图，还示出了用于致动辊子24在任一方向上滚动的马达26。可以将辊子致动提供给每个辊子，并且可以是双向的。特别地，辊子22可以设置有类似的马达28，用于使辊子22在图5所示的任一方向上旋转。马达26、28可以通过无线或有线通信来控制。在某些实施例中，马达可以一起致动，或者可以彼此独立地移动。在其它实施例中，一个马达可以被用于仅致动一个辊子，或者一个马达可以被用于通过齿轮联接来致动两个辊子。Fig. 4 shows a side view of the end effector of Fig. 3, also showing the motor 26 for actuating the rollers 24 to roll in either direction. Roller actuation can be provided to each roller and can be bi-directional. In particular, the roller 22 may be provided with a similar motor 28 for rotating the roller 22 in either direction shown in FIG. 5 . The motors 26, 28 may be controlled by wireless or wired communication. In some embodiments, the motors can be actuated together, or can move independently of each other. In other embodiments, one motor may be used to actuate only one roller, or one motor may be used to actuate both rollers through a gear coupling.

如图6所示，末端执行器12的辊子22、24可以接合具有不规则且柔软的表面32的物体30(例如聚乙烯运输袋)。参考图7，当一个或多个辊子22、24如图所示被致动以滚动时，袋子的一部分34在辊子之间被拉起。然后可以通过末端执行器将物体30移动到不同的位置，随后可以在相反的方向上使一个或多个辊子22、24滚动以释放物体30。As shown in FIG. 6 , the rollers 22 , 24 of the end effector 12 may engage an object 30 having an irregular and pliable surface 32 (eg, a polyethylene shipping bag). Referring to Figure 7, when one or more of the rollers 22, 24 are actuated to roll as shown, a portion 34 of the bag is pulled up between the rollers. The object 30 can then be moved to a different position by the end effector, and the one or more rollers 22 , 24 can then be rolled in opposite directions to release the object 30 .

图8和图9示出了根据本发明的另一个实施例的末端执行器40，其包括用于附连到可编程移动设备的部段48的支承结构42，以及辊子44和46(同样，例如由聚氨酯制成)。末端执行器40还包括真空管线50，该真空管线50向辊子44、46的部分52提供真空，该部分52包括辊子44、46的半径减小的区域。特别地，在辊子44、6之间提供真空以促进抓持物体。例如，图10和图11示出了接合物体56的末端执行器40(在图10中示出)，然后致动一个或多个马达54(类似于马达22、24)，通过在辊子44、46之间拉动物体的外表面的一部分58来抓持物体56(在图11中示出)。8 and 9 illustrate an end effector 40 according to another embodiment of the present invention, which includes a support structure 42 for attachment to a section 48 of a programmable mobile device, and rollers 44 and 46 (again, For example made of polyurethane). The end effector 40 also includes a vacuum line 50 that provides a vacuum to a portion 52 of the rollers 44 , 46 that includes the area of reduced radius of the rollers 44 , 46 . In particular, a vacuum is provided between the rollers 44, 6 to facilitate gripping of objects. For example, FIGS. 10 and 11 illustrate end effector 40 (shown in FIG. 10 ) engaging object 56, and then actuating one or more motors 54 (similar to motors 22, 24) by passing between rollers 44, 46 to grip a portion 58 of the outer surface of the object 56 (shown in FIG. 11 ).

图12和图13示出了根据本发明的另一实施例的末端执行器41，其包括用于附连到可编程移动设备的部段48的支承结构42，以及辊子44和46(同样，例如由聚氨酯制成)。末端执行器41还包括真空管线51，其向辊子44、46提供更宽的真空区域，包括辊子44、46的半径减小的区域。特别地，在辊子44、46之间提供真空以促进抓持物体。图14和图15示出了接合物体56的末端执行器41(在图14中示出)，然后致动一个或多个马达54(类似于马达22、24)，通过在辊子44、46之间拉动物体的外表面的一部分58来抓持物体56(在图15中示出)。Figures 12 and 13 illustrate an end effector 41 according to another embodiment of the invention comprising a support structure 42 for attachment to a section 48 of a programmable mobile device, and rollers 44 and 46 (again, For example made of polyurethane). The end effector 41 also includes a vacuum line 51 that provides a wider area of vacuum to the rollers 44 , 46 , including regions of reduced radius of the rollers 44 , 46 . In particular, a vacuum is provided between the rollers 44, 46 to facilitate gripping of objects. FIGS. 14 and 15 illustrate end effector 41 (shown in FIG. 14 ) engaging object 56 and then actuating one or more motors 54 (similar to motors 22, 24), passing between rollers 44, 46. A portion 58 of the outer surface of the object is pulled to grip the object 56 (shown in FIG. 15 ).

图16A、16B和16C示出了根据本发明的另外的实施例的末端执行器部分，其在辊子(同样，例如由聚氨酯制成)之间提供了不同的距离。例如，图16A示出了末端执行器60，该末端执行器60包括支承结构62以及用于致动辊子66、68的马达64。辊子66、68在辊子的侧部之间设置有很小的空间或没有空间。图16B示出了末端执行器70，该末端执行器60包括支承结构72以及用于致动辊子76、78的马达74。辊子76、78在辊子的侧部之间设有小的距离d1(例如2mm至5mm)。图16C示出了末端执行器80，该末端执行器80包括支承结构82以及用于致动辊子86、88的马达84。辊子86、88在辊子的侧部之间设有小的距离d2(例如0.65cm至2cm)。Figures 16A, 16B and 16C illustrate end effector sections according to further embodiments of the present invention that provide different distances between rollers (again, eg, made of polyurethane). For example, FIG. 16A shows an end effector 60 that includes a support structure 62 and a motor 64 for actuating rollers 66 , 68 . The rollers 66, 68 are provided with little or no space between the sides of the rollers. FIG. 16B shows end effector 70 including support structure 72 and motor 74 for actuating rollers 76 , 78 . The rollers 76, 78 are provided with a small distance d 1 (eg 2 mm to 5 mm) between the sides of the rollers. FIG. 16C shows end effector 80 including support structure 82 and motor 84 for actuating rollers 86 , 88 . The rollers 86, 88 are provided with a small distance d2 (eg 0.65 cm to 2 cm) between the sides of the rollers.

图17-19示出了末端执行器的实施例，该末端执行器包括具有阶梯状双半径辊子的辊子(同样，例如由聚氨酯制成)。特别地，图17示出了末端执行器90，该末端执行器90包括支承结构92以及用于致动辊子96、98的马达94。辊子96、98设有径向凹入的部段100、102，径向凹入的部段用于提供阶梯状双半径辊子，其中辊子的凹入部分彼此对准。在使用期间，辊子的凹入部分之间的区域101或辊子的外半径部分之间的小区域可用于接合诸如袋子之类的物体。17-19 illustrate an embodiment of an end effector comprising rollers (again, eg, made of polyurethane) with stepped dual radius rollers. In particular, FIG. 17 shows an end effector 90 that includes a support structure 92 and a motor 94 for actuating rollers 96 , 98 . The rollers 96, 98 are provided with radially concave sections 100, 102 for providing stepped double radius rollers wherein the concave portions of the rollers are aligned with each other. During use, the area 101 between the concave portions of the rollers or the small area between the outer radius portions of the rollers can be used to engage an object such as a bag.

图18示出了末端执行器100，该末端执行器80包括支承结构102以及用于致动辊子106、108的马达104。辊子106、108设有径向凹入的部段110、112，径向凹入的部段用于提供阶梯状双半径辊子，其中辊子的凹入部分彼此不对准。在使用期间，辊子之间的阶梯状区域114可以用于接合诸如袋子之类的物体。FIG. 18 shows an end effector 100 comprising a support structure 102 and a motor 104 for actuating the rollers 106 , 108 . The rollers 106, 108 are provided with radially concave sections 110, 112 for providing stepped dual radius rollers in which the concave portions of the rollers are not aligned with each other. During use, the stepped area 114 between the rollers may be used to engage an object such as a bag.

图19示出了末端执行器130，该末端执行器130包括支承结构132以及用于致动辊子136、138的马达134。辊子136、138设有径向凹入的部段140、142，径向凹入的部段用于提供阶梯状双半径辊子，其中辊子的凹入部分彼此不对准。在使用期间，辊子之间的阶梯状区域144可以用于接合诸如袋子之类的物体。如图所示，阶梯状区域144小于图18的区域124，因为辊子136、138的阶梯状区域彼此配合。FIG. 19 shows an end effector 130 that includes a support structure 132 and a motor 134 for actuating the rollers 136 , 138 . The rollers 136, 138 are provided with radially concave sections 140, 142 for providing stepped dual radius rollers in which the concave portions of the rollers are not aligned with each other. During use, the stepped region 144 between the rollers may be used to engage an object such as a bag. As shown, the stepped region 144 is smaller than the region 124 of FIG. 18 because the stepped regions of the rollers 136, 138 cooperate with each other.

图20示出了末端执行器150，该末端执行器150包括支承结构152以及用于致动辊子156、158(同样，例如由聚氨酯制成)的马达154。辊子156、158设有径向凹入的部段160、162，用于在辊子之间提供连续的区域，如图所示，该连续区域在辊子的中心处最大。在使用期间，凹入部分160、162之间的区域可以用于接合诸如袋子之类的物体。Figure 20 shows an end effector 150 comprising a support structure 152 and a motor 154 for actuating rollers 156, 158 (again, eg, made of polyurethane). The rollers 156, 158 are provided with radially concave sections 160, 162 for providing a continuous area between the rollers which is greatest at the center of the rollers as shown. During use, the area between the recessed portions 160, 162 may be used to engage an object such as a bag.

图21示出了末端执行器170，该末端执行器170包括支承结构172以及用于致动辊子176、178(同样，例如由聚氨酯制成)的马达174。辊子176、178设有径向凹入的部段180、182，用于在辊子之间提供连续的区域，如图所示，该连续区域在辊子的中心处最小。在使用期间，凹入部分180、182之间的区域可以用于接合诸如袋子之类的物体。图20和21的实施例提供了在辊子之间具有多种距离的辊子的部分被设置为接触物体。这有利于抓持物体，其中部分地由于外(袋)表面的厚度以及外(袋)表面的刚度，间隙的特定距离更适合于接合物体的外表面。Figure 21 shows an end effector 170 comprising a support structure 172 and a motor 174 for actuating rollers 176, 178 (again, eg, made of polyurethane). The rollers 176, 178 are provided with radially concave sections 180, 182 for providing a continuous area between the rollers which is smallest at the center of the rollers as shown. During use, the area between the recessed portions 180, 182 may be used to engage an object such as a bag. The embodiment of Figures 20 and 21 provides that portions of the rollers with various distances between the rollers are arranged to contact the object. This facilitates gripping objects where a certain distance of the gap is more suitable for engaging the outer surface of the object due in part to the thickness and stiffness of the outer (pocket) surface.

图22A和22B示出了成对辊子190、192(同样，例如由聚氨酯制成)的端视图，每个辊子包括凸轮部分194、196，使得随着每个辊子旋转，凸轮部分194、196朝向彼此推动，如图22B所示。凸轮部分的使用利用了以下事实：辊子可能仅需要在有限的旋转范围内旋转。22A and 22B show an end view of a pair of rollers 190, 192 (again, for example, made of polyurethane), each roller including a cam portion 194, 196 so that as each roller rotates, the cam portion 194, 196 faces push each other, as shown in Figure 22B. The use of a cam section takes advantage of the fact that the roller may only need to rotate over a limited range of rotation.

图23A和23B示出了设置在轴204、206上的成对辊子200、202(同样，例如由聚氨酯制成)的端视图，轴204、206不居中于每个辊子。这设置成随着每个辊子的旋转，辊子200、202的较大半径部分208、210被朝向彼此推动，如图23B所示。同样，较大半径的部分的使用还利用了以下事实：辊子可能仅需要在有限的旋转范围内旋转。Figures 23A and 23B show end views of a pair of rollers 200, 202 (again, eg, made of polyurethane) disposed on shafts 204, 206 that are not centered on each roller. This is arranged so that as each roller rotates, the larger radius portions 208, 210 of the rollers 200, 202 are urged towards each other, as shown in Figure 23B. Also, the use of larger radius sections takes advantage of the fact that the rollers may only need to rotate over a limited range of rotation.

图24A和24B示出了设置在轴224、226上的成对辊子220、202(例如由柔性橡胶材料制成)的端视图，轴224、226居中于每个辊子。辊子由可充气材料形成，并且可以被充气或放气以改变半径(每个辊子的直径)。这设置成随着每个辊子的旋转，其半径可以增加，使得辊子220、222被朝向彼此推动，如图24B所示。辊子220、222可以通过致动在马达附近联接的阀而被充气/放气，并且辊子可以在有限的旋转范围内被致动。物体的抓持和释放可以通过辊子的旋转和充气/放气的任意组合来提供。Figures 24A and 24B show end views of a pair of rollers 220, 202 (eg, made of a flexible rubber material) disposed on shafts 224, 226 centered on each roller. The rollers are formed from an inflatable material and can be inflated or deflated to vary the radius (the diameter of each roller). This is arranged so that as each roller rotates, its radius may increase so that the rollers 220, 222 are urged towards each other, as shown in Figure 24B. The rollers 220, 222 can be inflated/deflated by actuating a valve coupled near the motor, and the rollers can be actuated over a limited range of rotation. Object gripping and release can be provided by any combination of roller rotation and inflation/deflation.

图25示出了用于实施例的末端执行器中的成对辊子230、232(同样，例如由聚氨酯制成)，其包括在辊子230、232的外表面上的抓持特征234。参考图26和27，持特征可以是辊子上的抬高的凸起特征236。参考图28和29，抓持特征可以是提供适度抽吸特征的小锥形突起238。参考图30和31，抓持特征可包括通向辊子材料中的一个或多个导管242的开口240，通过该一个或多个导管242可向开口240提供真空。在使用期间，抓持特征(例如，236、238、240)可有利于辊子将袋子的一部分向上拉到辊子之间。Fig. 25 shows a pair of rollers 230, 232 (again, eg, made of polyurethane) for use in the end effector of an embodiment, including gripping features 234 on the outer surfaces of the rollers 230, 232. Referring to Figures 26 and 27, the retention feature may be a raised raised feature 236 on the roller. Referring to Figures 28 and 29, the gripping feature may be a small tapered protrusion 238 that provides a moderate suction feature. 30 and 31 , the gripping feature may include an opening 240 to one or more conduits 242 in the roll material through which a vacuum may be provided to the opening 240 . During use, the gripping features (eg, 236, 238, 240) may facilitate the rollers pulling a portion of the bag up between the rollers.

图32示出了用于实施例的末端执行器中的成对辊子250、252(同样，例如由聚氨酯制成)，其设有由电子电荷分布刷254保持的高电子电荷。高电子电荷使得辊子对诸如聚氨酯和聚乙烯袋子之类的某些类型的袋子特别有吸引力。可选地，可以提供刷子254以选择性地将正电荷分配到辊子，以便将其它类型的物体吸引到辊子。无论哪种情况，都可以通过使辊子放电(接地)和/或从辊子上机械推动物体来释放物体。图33示出了用于实施例的末端执行器中的成对辊子260、262，其包括由诸如相容性塑料之类的聚氨基甲酸乙酯(polyurethane-philic)材料制成的外表面，或者通过提供硅树脂或基于氧的等离子体的涂层。FIG. 32 shows a pair of rollers 250 , 252 (again, eg, made of polyurethane) used in the end effector of an embodiment, provided with a high electronic charge maintained by electronic charge distribution brushes 254 . The high electronic charge makes the rollers particularly attractive for certain types of bags such as polyurethane and polyethylene bags. Optionally, brushes 254 may be provided to selectively distribute positive charges to the rollers in order to attract other types of objects to the rollers. In either case, the object can be released by discharging (grounding) the roller and/or mechanically pushing the object from the roller. Figure 33 shows a pair of rollers 260, 262 for use in the end effector of an embodiment comprising outer surfaces made of a polyurethane-philic material such as a compatible plastic, Or by providing a coating of silicone or oxygen-based plasma.

根据另外的实施例，并且参考图34，本发明提供了一种末端执行器270，该末端执行器270与诸如铰接臂之类的可编程移动设备272结合使用。铰接臂可以在其基座274中包括控制器，或者可以经由无线通信联接到控制器276。如图35中进一步所示，末端执行器270可以附连到铰接臂的外部部段278，并且可以包括安装在框架284中的成组辊子280、282。还设有控制驱动机构286以致动一个或两个辊子。如图36进一步所示，(为了清楚起见，没有安装硬件)，辊子280、282可以安装在轨道288上，以自动地朝向彼此或远离彼此移动。图37示出了末端执行器270与袋子290接触。如图所示，末端执行器270接触袋子，袋子在接触时可以移动。辊子例如可以由聚氨酯形成。According to a further embodiment, and with reference to FIG. 34, the present invention provides an end effector 270 for use in conjunction with a programmable movement device 272, such as an articulated arm. The articulating arm may include a controller in its base 274, or may be coupled to a controller 276 via wireless communication. As further shown in FIG. 35 , end effector 270 may be attached to outer section 278 of the articulated arm and may include sets of rollers 280 , 282 mounted in frame 284 . A control drive mechanism 286 is also provided to actuate one or both rollers. As further shown in FIG. 36, (without mounting hardware for clarity), the rollers 280, 282 may be mounted on rails 288 to automatically move toward or away from each other. FIG. 37 shows end effector 270 in contact with bag 290 . As shown, the end effector 270 contacts the bag and the bag may move upon contact. The rollers can be formed, for example, from polyurethane.

如图38所示，在末端执行器270与袋子接触的同时，辊子280、282可以朝向彼此移动，并且当它们移动时，可以将袋子的一部分292收集在辊子之间。如图39所示，然后旋转一个或两个辊子，以将袋子290的较大部分292抓持在这些辊子之间。如图39所示被抓持的袋子然后准备好运送。辊子可以在相反的方向上旋转和/或远离彼此移动以释放物体(例如，袋子)。As shown in FIG. 38 , while the end effector 270 is in contact with the bag, the rollers 280 , 282 can move toward each other, and as they move, a portion 292 of the bag can be collected between the rollers. As shown in Figure 39, one or both rollers are then rotated to grip the larger portion 292 of the bag 290 between the rollers. The gripped bag as shown in Figure 39 is then ready for shipping. The rollers may rotate in opposite directions and/or move away from each other to release objects (eg, bags).

参考图40，根据另一实施例的末端执行器300可包括成对辊子302、304(同样，例如由聚氨酯制成)，以及在辊子302、304的两个端部上的驱动机构306、308(提供旋转和平移)。这可以提供更好的动力以及沿着辊子302、304的整个长度控制辊子位置。因此，图34-39的实施例可以包括成对驱动机构。在本文公开的各种实施例中，两个辊子中的一个或两个可以在角度、速度和/或扭矩方面是可控的。40, an end effector 300 according to another embodiment may include a pair of rollers 302, 304 (again, for example, made of polyurethane), and drive mechanisms 306, 308 on both ends of the rollers 302, 304 (provides rotation and translation). This can provide better dynamics and control of the roller position along the entire length of the rollers 302,304. Accordingly, the embodiment of Figures 34-39 may include a pair of drive mechanisms. In various embodiments disclosed herein, one or both of the two rollers may be controllable in terms of angle, speed and/or torque.

图41示出了根据本发明的另一实施例的末端执行器310，其包括成对辊子312、314(同样，例如由聚氨酯制成)，其安装在支承框架320的底侧的轴316、318上，并由马达控制器322、324驱动(平移和旋转)。图42示出了末端执行器310的底侧。轴316、318借助可移动安装部326、328附连到框架320的底侧，可移动安装部326、328也能够沿着轨道340、342移动以提供由驱动机构326、328驱动的辊子312、314的平移和旋转移动。图41和42的实施例设置成辊子312、314可以进一步远离框架320的远侧表面设置以促进与物体(例如，袋子)接合。另外，辊子312、314的尺寸可以更小并且不跨越框架320的内部距离。如上所述参照图34-40所示的实施例来操作末端执行器310。41 shows an end effector 310 according to another embodiment of the invention comprising a pair of rollers 312, 314 (again, for example made of polyurethane) mounted on a shaft 316, 316, 318 and driven by motor controllers 322, 324 (translation and rotation). FIG. 42 shows the bottom side of the end effector 310 . The shafts 316, 318 are attached to the underside of the frame 320 by means of movable mounts 326, 328 which are also movable along rails 340, 342 to provide the rollers 312, 312, 314 translation and rotation moves. The embodiment of Figures 41 and 42 is configured such that the rollers 312, 314 can be positioned further away from the distal surface of the frame 320 to facilitate engagement with an object (eg, a bag). Additionally, the rollers 312 , 314 may be smaller in size and not span the interior distance of the frame 320 . End effector 310 is operated as described above with reference to the embodiment shown in FIGS. 34-40.

图43和图44示出了类似于图41和42的末端执行器310的末端执行器340，除了末端执行器340包括辊子轴偏置机构之外，该辊子轴偏置机构包括例如两个弹簧342、344，每个弹簧固定在围绕辊子312、314的轴316、318的成对套环346、348之间。尽管也可以采用驱动机构326、328将辊子从彼此拉开，但偏置机构将两个辊子推在一起。43 and 44 show an end effector 340 similar to end effector 310 of FIGS. 41 and 42, except that end effector 340 includes a roller shaft biasing mechanism that includes, for example, two springs. 342,344, each spring is secured between a pair of collars 346,348 around the shaft 316,318 of the rollers 312,314. The biasing mechanism pushes the two rollers together, although the drive mechanisms 326, 328 could also be used to pull the rollers away from each other.

图45A和45B示出了根据本发明的另一实施例的末端执行器350，该末端执行器350包括安装在单独的框架356、358上的成对辊子352、354，其中每个框架356、358可以联接到臂360、362，而臂360、362可以附连到共同(相同)的可编程移动设备，或者可以附连到不同的可编程移动设备。在使用期间，如上所述，使用可编程移动设备来将袋子的一部分收集在辊子352、354之间。45A and 45B show an end effector 350 according to another embodiment of the present invention, which end effector 350 includes a pair of rollers 352, 354 mounted on separate frames 356, 358, wherein each frame 356, 358 358 may be coupled to arms 360, 362, and arms 360, 362 may be attached to a common (same) programmable mobile device, or may be attached to different programmable mobile devices. During use, a programmable movement device is used to collect a portion of the bag between the rollers 352, 354, as described above.

图46示出了根据本发明的另一实施例的系统380的实施例，其包括与图34所示的实施例共同的许多特征，除了末端执行器370和相关的外部部段378是(可编程移动设备380的)更大的末端执行器部段382的一部分之外，该末端执行器部段382还包括第二外部部段384，在第二外部部段384的相对端处附连有第二末端执行器386(例如，基于吸力的末端执行器)。在使用期间，可编程移动设备380可以根据要处理的物体选择使用末端执行器370或末端执行器386。FIG. 46 shows an embodiment of a system 380 according to another embodiment of the invention, which includes many of the features in common with the embodiment shown in FIG. In addition to being part of a larger end effector section 382 of the programming mobile device 380, the end effector section 382 also includes a second outer section 384 with a A second end effector 386 (eg, a suction based end effector). During use, programmable mobile device 380 may choose to use end effector 370 or end effector 386 depending on the object to be processed.

图47示出了根据本发明的另一实施例的系统390的实施例，该系统390包括附连到区段388的共同的末端的成对末端执行器12和386。末端执行器12可以是如上关于如图1-7所述的，而末端执行器386可以是如上关于图46所述的。同样，在使用期间，可编程移动设备390可以根据要处理的物体选择使用末端执行器12或末端执行器386。FIG. 47 shows an embodiment of a system 390 including a pair of end effectors 12 and 386 attached to a common end of a segment 388 according to another embodiment of the invention. End effector 12 may be as described above with respect to FIGS. 1-7 and end effector 386 may be as described above with respect to FIG. 46 . Likewise, during use, programmable mobile device 390 may choose to use end effector 12 or end effector 386 depending on the object to be processed.

图48A和48B示出了根据本发明的另一实施例的末端执行器400，其包括固定到辊子轴406、408上的成对辊子402、404(同样，例如由聚氨酯制成)。如图48B所示，当辊子轴406、408旋转时，辊子402、404被朝向彼此推动。根据较佳实施例，将辊子302、404固定到轴406、408，使得辊子随轴旋转，从而导致任何接合的物体袋子被辊子402、404夹带。辊子402、404的旋转移动可以由致动机构410、412提供。48A and 48B illustrate an end effector 400 according to another embodiment of the invention comprising a pair of rollers 402, 404 (again, eg, made of polyurethane) secured to roller shafts 406, 408. As shown in Figure 48B, as the roller shafts 406, 408 rotate, the rollers 402, 404 are urged toward each other. According to a preferred embodiment, the rollers 302,404 are fixed to the shafts 406,408 such that the rollers rotate with the shafts causing any engaged object pockets to be entrained by the rollers 402,404. The rotational movement of the rollers 402 , 404 may be provided by an actuation mechanism 410 , 412 .

图49A示出了根据本发明的另一实施例的末端执行器420的一部分，其包括附连到杆(在球体的情况下)或板426、428的成对辊子或球体422、424(同样，例如由聚氨酯制成)。当驱动器430和432旋转时，使杆或板426、428线性地向上或向下移动。例如，当驱动器430顺时针旋转而驱动器432逆时针旋转时(如图49B所示)，杆或板426、428与成对球体或辊子422、424一起线性向上移动以与彼此接触。当发生这种情况时，球体或辊子422、424可能会在球体或辊子422、424之间抓持诸如袋子之类的物体。49A shows a portion of an end effector 420 according to another embodiment of the invention, which includes a pair of rollers or balls 422, 424 (likewise , for example made of polyurethane). As the drives 430 and 432 rotate, the rods or plates 426, 428 are moved linearly up or down. For example, when the driver 430 is rotated clockwise and the driver 432 is rotated counterclockwise (as shown in FIG. 49B ), the rods or plates 426, 428 move linearly up with the pair of balls or rollers 422, 424 into contact with each other. When this occurs, the balls or rollers 422, 424 may grab an object such as a bag between the balls or rollers 422, 424.

图50A示出了根据本发明的另一实施例的末端执行器440的部分，其包括附连到杆(在球体的情况下)或板446、448的成对辊子或球体442、444(同样，例如由聚氨酯制成)。在使旋转致动器450旋转时，杆或板446、448与球体或辊子442、444一起朝向彼此拉动，并且当发生这种情况时，球体或辊子442、444可以如图50B所示，在球体或辊子442、444之间抓持诸如袋子之类的物体。50A shows a portion of an end effector 440 according to another embodiment of the invention, which includes a pair of rollers or balls 442, 444 (likewise , for example made of polyurethane). When the rotary actuator 450 is rotated, the rods or plates 446, 448 together with the balls or rollers 442, 444 are pulled toward each other, and when this occurs, the balls or rollers 442, 444 can be shown in FIG. Objects such as bags are gripped between balls or rollers 442,444.

图51A示出了根据本发明的另一实施例的末端执行器460的部分，其包括附连到杆(在球体的情况下)或板466、468的成对辊子或球体462、464(同样，例如由聚氨酯制成)。在使致动器472、474线性移动时，杆或板366、468与球体或辊子462、464一起朝向彼此拉动，并且当发生这种情况时，球体或辊子462、464可以如图51B所示，在球体或辊子462、464之间抓持诸如袋子之类的物体。51A shows a portion of an end effector 460 according to another embodiment of the invention, which includes a pair of rollers or balls 462, 464 (likewise , for example made of polyurethane). When the actuators 472, 474 are moved linearly, the rods or plates 366, 468 together with the balls or rollers 462, 464 are pulled toward each other, and when this happens, the balls or rollers 462, 464 can move as shown in FIG. 51B , between balls or rollers 462, 464 to grip an object such as a bag.

图52A示出了根据本发明另一个实施例的末端执行器480的一部分，其包括用于提供成对相互相对的表面的成对条带482、484。条带482、484围绕驱动和从动单元486、488设置，并且物体可以在单元488附近的区域中的条带之间被拉起。如图52B进一步所示，条带可以包括非常小的梳齿形的指状物490，当抓持物体(诸如袋子之类)时，当条带围绕单元388(如图52C所示)移动时，指状件490散开，以促进与物体的接合。Figure 52A shows a portion of an end effector 480 according to another embodiment of the invention comprising a pair of strips 482, 484 for providing a pair of mutually opposing surfaces. Straps 482 , 484 are provided around drive and driven units 486 , 488 and objects may be pulled up between the straps in the area near unit 488 . As further shown in FIG. 52B , the strap may include very small comb-shaped fingers 490 that, when gripping an object such as a bag, as the strap moves around unit 388 (as shown in FIG. 52C ) , fingers 490 spread out to facilitate engagement with objects.

图53A示出了根据本发明另一个实施例的末端执行器500的一部分，其包括用于提供成对相互相对的表面506、508的成对抓持器502、504。抓持器502、504被附连到两组连杆机构510、512，在被致动时(如图53B所示)，这两组连杆机构510、512使抓持器聚集在一起，使得表面506、508彼此接近或接触。当发生这种情况时，抓持器可用于抓持物体。特别地，可以将抓持器以如图53A所示位置放置在诸如袋子之类的物体上。当连杆机构510、512如图53B所示被致动时，抓持器可以抓持袋子并在相对的表面506、508之间拉起袋子的一部分。53A shows a portion of an end effector 500 including a pair of grippers 502, 504 for providing a pair of mutually opposing surfaces 506, 508 according to another embodiment of the present invention. The grippers 502, 504 are attached to two sets of linkages 510, 512 which, when actuated (as shown in Figure 53B), bring the grippers together so that Surfaces 506, 508 are in proximity or contact with each other. When this happens, the gripper can be used to grasp the object. In particular, the gripper can be placed on an object such as a bag in the position shown in Figure 53A. When the linkages 510, 512 are actuated as shown in FIG. 53B, the gripper can grip the bag and pull up a portion of the bag between the opposing surfaces 506,508.

图54A和54B示出了根据本发明另一个实施例的末端执行器520的一部分，该末端执行器520包括成对辊子522、524(同样，例如由聚氨酯制成)。辊子各自包括成组小齿轮526、528，成组小齿轮526、528与成对齿条530、532(附连到辊子522、524悬挂在其上的支承结构534、536)相配合。通过使用齿条和小齿轮，辊子522、524可以朝向彼此和远离彼此移动，从而可以如上所述在辊子522、524之间抓持物体。54A and 54B illustrate a portion of an end effector 520 comprising a pair of rollers 522, 524 (again, eg, made of polyurethane) according to another embodiment of the present invention. The rollers each include sets of pinions 526, 528 cooperating with pairs of racks 530, 532 (attached to support structures 534, 536 from which the rollers 522, 524 are suspended). By using a rack and pinion, the rollers 522, 524 can be moved toward and away from each other so that objects can be gripped between the rollers 522, 524 as described above.

图55A和55B示出了末端执行器540的一部分，该末端执行器540包括辊子542、544，每个辊子包括用于接合安装在框架562内的齿条部段550、552的小齿轮546、548。辊子542、544(同样，例如由聚氨酯制成)由弹簧机构552、554保持在向上推动的位置。辊子542、544的移动通过致动转子致动器560、562借助张力机构556、558来控制，如图55B所示，张力机构556、558将辊子542、544沿着齿条和小齿轮(546、548、550、552)机构向上拉动。55A and 55B show a portion of an end effector 540 that includes rollers 542, 544 each including a pinion 546 for engaging rack sections 550, 552 mounted within a frame 562. 548. Rollers 542, 544 (again, eg, made of polyurethane) are held in an upwardly urged position by spring mechanisms 552, 554. Movement of the rollers 542, 544 is controlled by actuating the rotor actuators 560, 562 via tension mechanisms 556, 558, as shown in FIG. , 548, 550, 552) the mechanism pulls upwards.

图56A和56B示出了类似于图55A和55B的末端执行器540的末端执行器570的部分，除了框架594是柔性的并且包括朝向彼此推动框架壁(以及辊子572、574)的附加的弹簧机构600、602之外。辊子572、574各自包括小齿轮576、578，用于接合安装在框架592内的齿条部段580、582。辊子572、574(同样，例如由聚氨酯制成)由弹簧机构484、486保持在向上推动的位置。辊子572、574的移动通过致动转子致动器590、592借助张力机构596、598来控制，如图56B所示，张力机构582、558将辊子572、574沿着齿条和小齿轮(576、578、580、552)机构向上拉动。56A and 56B show portions of an end effector 570 similar to end effector 540 of FIGS. 55A and 55B, except that the frame 594 is flexible and includes additional springs that urge the frame walls (and rollers 572, 574) toward each other. Institutions 600, 602 outside. Rollers 572 , 574 each include pinions 576 , 578 for engaging rack segments 580 , 582 mounted within frame 592 . Rollers 572, 574 (again, eg, made of polyurethane) are held in an upwardly urged position by spring mechanisms 484,486. Movement of the rollers 572, 574 is controlled by actuating the rotor actuators 590, 592 via tension mechanisms 596, 598, as shown in FIG. , 578, 580, 552) the mechanism pulls upwards.

本领域技术人员会意识到，可对以上公开的实施例作出多种修改和变型而不脱离本发明的精神和范围。Those skilled in the art will appreciate that various modifications and variations can be made to the above disclosed embodiments without departing from the spirit and scope of the invention.

要求保护的是：What is claimed is:

Claims (38)

1. an end effector for use with a programmable mobile device, the end effector comprising a pair of rollers mounted to an end effector support structure, at least one of the pair of rollers being actuatable to roll in at least one direction, and both of the pair of rollers being movable toward and away from each other,
wherein the pair of rollers are each moved toward each other to draw at least a portion of an object between the mutually facing surfaces of the pair of rollers, and wherein the pair of rollers are each moved away from each other to release the object from between the mutually facing surfaces of the pair of rollers.
2. The end effector as set forth in claim 1 wherein said pair of rollers move linearly in both movement toward and away from each other.
3. The end effector as set forth in claim 1 wherein said pair of rollers perform angular movement in both movement toward and away from each other.
4. The end effector as set forth in claim 1 wherein said pair of rollers move both toward and away from each other via a linkage.
5. The end effector as claimed in claim 1, wherein the pair of rollers move via a rack and pinion system in both movement toward and away from each other.
6. The end effector as set forth in claim 1 wherein said pair of rollers are pairs of stepped double radius rollers.
7. The end effector as set forth in claim 1 wherein said pair of rollers are both actuated to roll relative to each other.
8. The end effector as set forth in claim 1 wherein each of said pair of rollers includes surface features for facilitating gripping of an object.
9. The end effector as set forth in claim 8 wherein said surface features comprise protrusions on the surfaces of said pair of rollers.
10. The end effector as set forth in claim 8 wherein said surface features comprise cup-like features.
11. The end effector as set forth in claim 8 wherein said surface features include apertures through which vacuum is provided.
12. The end effector as set forth in claim 1 wherein said pair of rollers are disposed on a non-linear axis.
13. The end effector as set forth in claim 1 wherein said pair of rollers are provided with non-linear surfaces.
14. The end effector as set forth in claim 1 wherein said pair of rollers are provided with mutually complementary surfaces.
15. The end effector as set forth in claim 1 further comprising a vacuum line for providing a vacuum force adjacent said pair of rollers.
16. The end effector as set forth in claim 1 wherein said pair of rollers are provided with cam surfaces.
17. The end effector as set forth in claim 1 wherein said pair of rollers are disposed on axles not centered on said rollers.
18. An end effector for use with a programmable mobile device, the end effector comprising a pair of rollers mounted to an end effector support structure, at least one of the pair of rollers being movable relative to the other of the pair of rollers, wherein the pair of rollers each comprise a plurality of recessed portions for gripping an object therebetween.
19. The end effector as set forth in claim 18 wherein said at least one of said pair of rollers is actuatable to move relative to an object to be grasped.
20. The end effector as set forth in claim 18 wherein said at least one of said pair of rollers moves linearly in movement toward the other of said pair of rollers.
21. The end effector as set forth in claim 18 wherein said at least one of said pair of rollers moves angularly in movement toward the other of said pair of rollers.
22. The end effector as set forth in claim 18 wherein said at least one of said pair of rollers moves via a linkage in movement toward the other of said pair of rollers.
23. The end effector as set forth in claim 18 wherein said at least one of said pair of rollers moves via a rack and pinion system in movement toward the other of said pair of rollers.
24. The end effector as set forth in claim 18 wherein said pair of rollers are pairs of stepped double radius rollers.
25. The end effector as set forth in claim 18 wherein said pair of rollers are both actuated to roll relative to each other.
26. The end effector as set forth in claim 18 wherein at least one of said pair of rollers is actuatable to move toward and away from the other of said pair of rollers.
27. The end effector as claimed in claim 18, wherein the pair of rollers are each actuatable to move toward and away from each other.
28. The end effector as set forth in claim 18 wherein each of said pair of rollers includes surface features for facilitating gripping of an object.
29. The end effector as set forth in claim 28 wherein said surface features comprise protrusions on the surfaces of said pair of rollers.
30. The end effector as set forth in claim 28 wherein said surface features comprise cup-like features.
31. The end effector as claimed in claim 28, wherein the surface features comprise apertures through which vacuum is provided.
32. The end effector as set forth in claim 28 wherein said rollers are disposed on a non-linear axis.
33. The end effector as set forth in claim 18 wherein said recessed portions of said pair of rollers are aligned with one another.
34. The end effector as set forth in claim 18 wherein said recessed portions of said pair of rollers are not aligned with one another.
35. The end effector as set forth in claim 18 further comprising a vacuum line for providing a vacuum force adjacent said pair of rollers.
36. The end effector as set forth in claim 18 wherein said pair of rollers are disposed on axles not centered on said rollers.
37. A method of gripping an object using an end effector of a programmable mobile device, comprising:
engaging the object with a pair of rollers mounted to an end effector support structure;
moving both of the pair of rollers toward each other to draw at least a portion of the object between the mutually facing surfaces of the pair of rollers;
rotating both of the pair of rollers to grip the object between the mutually facing surfaces of the pair of rollers; and
the pair of rollers are moved away from each other to release the object from between the mutually facing surfaces of the pair of rollers.
38. A method of gripping an object using an end effector of a programmable mobile device, comprising:
engaging the object with a pair of rollers; and
moving at least one of the pair of rollers relative to the other of the pair of rollers to grip at least a portion of the object between the mutually facing surfaces of the pair of rollers;
wherein each roller of the pair of rollers includes a plurality of concave portions.
CN201880049463.3A 2017-08-02 2018-08-01 Systems and methods for acquiring and moving objects with complex exterior surfaces Active CN110958932B (en)

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US20230330844A1 (en) 2023-10-19
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US20200290200A1 (en) 2020-09-17
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